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1067 lines
28 KiB
1067 lines
28 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if HAS_PRUSA_MMU2
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#include "mmu2.h"
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#include "../../lcd/menu/menu_mmu2.h"
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MMU2 mmu2;
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#include "../../gcode/gcode.h"
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#include "../../lcd/marlinui.h"
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#include "../../libs/buzzer.h"
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#include "../../libs/nozzle.h"
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#include "../../module/temperature.h"
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#include "../../module/planner.h"
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#include "../../module/stepper.h"
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#include "../../MarlinCore.h"
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#if ENABLED(HOST_PROMPT_SUPPORT)
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#include "../../feature/host_actions.h"
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#endif
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#if ENABLED(EXTENSIBLE_UI)
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#include "../../lcd/extui/ui_api.h"
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#endif
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#define DEBUG_OUT ENABLED(MMU2_DEBUG)
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#include "../../core/debug_out.h"
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#define MMU_TODELAY 100
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#define MMU_TIMEOUT 10
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#define MMU_CMD_TIMEOUT 45000UL // 45s timeout for mmu commands (except P0)
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#define MMU_P0_TIMEOUT 3000UL // Timeout for P0 command: 3seconds
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#define MMU2_COMMAND(S) tx_str(F(S "\n"))
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#if ENABLED(MMU_EXTRUDER_SENSOR)
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uint8_t mmu_idl_sens = 0;
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static bool mmu_loading_flag = false;
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#endif
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#define MMU_CMD_NONE 0
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#define MMU_CMD_T0 0x10 // up to supported filaments
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#define MMU_CMD_L0 0x20 // up to supported filaments
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#define MMU_CMD_C0 0x30
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#define MMU_CMD_U0 0x40
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#define MMU_CMD_E0 0x50 // up to supported filaments
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#define MMU_CMD_R0 0x60
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#define MMU_CMD_F0 0x70 // up to supported filaments
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#define MMU_REQUIRED_FW_BUILDNR TERN(MMU2_MODE_12V, 132, 126)
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#define MMU2_NO_TOOL 99
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#define MMU_BAUD 115200
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bool MMU2::_enabled, MMU2::ready, MMU2::mmu_print_saved;
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#if HAS_PRUSA_MMU2S
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bool MMU2::mmu2s_triggered;
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#endif
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uint8_t MMU2::cmd, MMU2::cmd_arg, MMU2::last_cmd, MMU2::extruder;
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int8_t MMU2::state = 0;
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volatile int8_t MMU2::finda = 1;
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volatile bool MMU2::finda_runout_valid;
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int16_t MMU2::version = -1, MMU2::buildnr = -1;
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millis_t MMU2::prev_request, MMU2::prev_P0_request;
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char MMU2::rx_buffer[MMU_RX_SIZE], MMU2::tx_buffer[MMU_TX_SIZE];
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struct E_Step {
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float extrude; //!< extrude distance in mm
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feedRate_t feedRate; //!< feed rate in mm/s
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};
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static constexpr E_Step
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ramming_sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE }
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, load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE }
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#if HAS_PRUSA_MMU2S
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, can_load_sequence[] PROGMEM = { MMU2_CAN_LOAD_SEQUENCE }
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, can_load_increment_sequence[] PROGMEM = { MMU2_CAN_LOAD_INCREMENT_SEQUENCE }
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#endif
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;
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MMU2::MMU2() {
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rx_buffer[0] = '\0';
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}
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void MMU2::init() {
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set_runout_valid(false);
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#if PIN_EXISTS(MMU2_RST)
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WRITE(MMU2_RST_PIN, HIGH);
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SET_OUTPUT(MMU2_RST_PIN);
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#endif
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MMU2_SERIAL.begin(MMU_BAUD);
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extruder = MMU2_NO_TOOL;
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safe_delay(10);
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reset();
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rx_buffer[0] = '\0';
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state = -1;
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}
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void MMU2::reset() {
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DEBUG_ECHOLNPGM("MMU <= reset");
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#if PIN_EXISTS(MMU2_RST)
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WRITE(MMU2_RST_PIN, LOW);
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safe_delay(20);
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WRITE(MMU2_RST_PIN, HIGH);
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#else
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MMU2_COMMAND("X0"); // Send soft reset
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#endif
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}
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uint8_t MMU2::get_current_tool() {
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return extruder == MMU2_NO_TOOL ? -1 : extruder;
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}
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#if EITHER(HAS_PRUSA_MMU2S, MMU_EXTRUDER_SENSOR)
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#define FILAMENT_PRESENT() (READ(FIL_RUNOUT1_PIN) != FIL_RUNOUT1_STATE)
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#endif
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void mmu2_attn_buzz(const bool two=false) {
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BUZZ(200, 404);
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if (two) { BUZZ(10, 0); BUZZ(200, 404); }
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}
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void MMU2::mmu_loop() {
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switch (state) {
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case 0: break;
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case -1:
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if (rx_start()) {
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prev_P0_request = millis(); // Initialize finda sensor timeout
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DEBUG_ECHOLNPGM("MMU => 'start'");
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DEBUG_ECHOLNPGM("MMU <= 'S1'");
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MMU2_COMMAND("S1"); // Read Version
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state = -2;
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}
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else if (millis() > 30000) { // 30sec after reset disable MMU
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SERIAL_ECHOLNPGM("MMU not responding - DISABLED");
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state = 0;
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}
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break;
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case -2:
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if (rx_ok()) {
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sscanf(rx_buffer, "%huok\n", &version);
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DEBUG_ECHOLNPGM("MMU => ", version, "\nMMU <= 'S2'");
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MMU2_COMMAND("S2"); // Read Build Number
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state = -3;
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}
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break;
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case -3:
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if (rx_ok()) {
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sscanf(rx_buffer, "%huok\n", &buildnr);
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DEBUG_ECHOLNPGM("MMU => ", buildnr);
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check_version();
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#if ENABLED(MMU2_MODE_12V)
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DEBUG_ECHOLNPGM("MMU <= 'M1'");
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MMU2_COMMAND("M1"); // Stealth Mode
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state = -5;
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#else
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DEBUG_ECHOLNPGM("MMU <= 'P0'");
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MMU2_COMMAND("P0"); // Read FINDA
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state = -4;
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#endif
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}
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break;
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#if ENABLED(MMU2_MODE_12V)
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case -5:
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// response to M1
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if (rx_ok()) {
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DEBUG_ECHOLNPGM("MMU => ok");
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DEBUG_ECHOLNPGM("MMU <= 'P0'");
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MMU2_COMMAND("P0"); // Read FINDA
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state = -4;
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}
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break;
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#endif
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case -4:
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if (rx_ok()) {
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sscanf(rx_buffer, "%hhuok\n", &finda);
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DEBUG_ECHOLNPGM("MMU => ", finda, "\nMMU - ENABLED");
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_enabled = true;
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state = 1;
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TERN_(HAS_PRUSA_MMU2S, mmu2s_triggered = false);
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}
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break;
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case 1:
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if (cmd) {
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if (WITHIN(cmd, MMU_CMD_T0, MMU_CMD_T0 + EXTRUDERS - 1)) {
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// tool change
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const int filament = cmd - MMU_CMD_T0;
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DEBUG_ECHOLNPGM("MMU <= T", filament);
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tx_printf(F("T%d\n"), filament);
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TERN_(MMU_EXTRUDER_SENSOR, mmu_idl_sens = 1); // enable idler sensor, if any
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state = 3; // wait for response
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}
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else if (WITHIN(cmd, MMU_CMD_L0, MMU_CMD_L0 + EXTRUDERS - 1)) {
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// load
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const int filament = cmd - MMU_CMD_L0;
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DEBUG_ECHOLNPGM("MMU <= L", filament);
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tx_printf(F("L%d\n"), filament);
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state = 3; // wait for response
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}
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else if (cmd == MMU_CMD_C0) {
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// continue loading
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DEBUG_ECHOLNPGM("MMU <= 'C0'");
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MMU2_COMMAND("C0");
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state = 3; // wait for response
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}
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else if (cmd == MMU_CMD_U0) {
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// unload current
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DEBUG_ECHOLNPGM("MMU <= 'U0'");
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MMU2_COMMAND("U0");
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state = 3; // wait for response
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}
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else if (WITHIN(cmd, MMU_CMD_E0, MMU_CMD_E0 + EXTRUDERS - 1)) {
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// eject filament
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const int filament = cmd - MMU_CMD_E0;
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DEBUG_ECHOLNPGM("MMU <= E", filament);
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tx_printf(F("E%d\n"), filament);
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state = 3; // wait for response
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}
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else if (cmd == MMU_CMD_R0) {
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// recover after eject
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DEBUG_ECHOLNPGM("MMU <= 'R0'");
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MMU2_COMMAND("R0");
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state = 3; // wait for response
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}
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else if (WITHIN(cmd, MMU_CMD_F0, MMU_CMD_F0 + EXTRUDERS - 1)) {
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// filament type
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const int filament = cmd - MMU_CMD_F0;
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DEBUG_ECHOLNPGM("MMU <= F", filament, " ", cmd_arg);
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tx_printf(F("F%d %d\n"), filament, cmd_arg);
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state = 3; // wait for response
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}
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last_cmd = cmd;
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cmd = MMU_CMD_NONE;
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}
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else if (ELAPSED(millis(), prev_P0_request + 300)) {
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MMU2_COMMAND("P0"); // Read FINDA
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state = 2; // wait for response
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}
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TERN_(HAS_PRUSA_MMU2S, check_filament());
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break;
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case 2: // response to command P0
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if (rx_ok()) {
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sscanf(rx_buffer, "%hhuok\n", &finda);
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// This is super annoying. Only activate if necessary
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// if (finda_runout_valid) DEBUG_ECHOLNPAIR_F("MMU <= 'P0'\nMMU => ", finda, 6);
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if (!finda && finda_runout_valid) filament_runout();
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if (cmd == MMU_CMD_NONE) ready = true;
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state = 1;
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}
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else if (ELAPSED(millis(), prev_request + MMU_P0_TIMEOUT)) // Resend request after timeout (3s)
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state = 1;
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TERN_(HAS_PRUSA_MMU2S, check_filament());
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break;
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case 3: // response to mmu commands
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#if ENABLED(MMU_EXTRUDER_SENSOR)
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if (mmu_idl_sens) {
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if (FILAMENT_PRESENT() && mmu_loading_flag) {
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DEBUG_ECHOLNPGM("MMU <= 'A'");
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MMU2_COMMAND("A"); // send 'abort' request
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mmu_idl_sens = 0;
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DEBUG_ECHOLNPGM("MMU IDLER_SENSOR = 0 - ABORT");
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}
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}
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#endif
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if (rx_ok()) {
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#if HAS_PRUSA_MMU2S
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// Respond to C0 MMU command in MMU2S model
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const bool keep_trying = !mmu2s_triggered && last_cmd == MMU_CMD_C0;
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if (keep_trying) {
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// MMU ok received but filament sensor not triggered, retrying...
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DEBUG_ECHOLNPGM("MMU => 'ok' (filament not present in gears)");
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DEBUG_ECHOLNPGM("MMU <= 'C0' (keep trying)");
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MMU2_COMMAND("C0");
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}
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#else
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constexpr bool keep_trying = false;
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#endif
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if (!keep_trying) {
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DEBUG_ECHOLNPGM("MMU => 'ok'");
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ready = true;
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state = 1;
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last_cmd = MMU_CMD_NONE;
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}
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}
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else if (ELAPSED(millis(), prev_request + MMU_CMD_TIMEOUT)) {
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// resend request after timeout
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if (last_cmd) {
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DEBUG_ECHOLNPGM("MMU retry");
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cmd = last_cmd;
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last_cmd = MMU_CMD_NONE;
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}
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state = 1;
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}
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TERN_(HAS_PRUSA_MMU2S, check_filament());
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break;
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}
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}
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/**
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* Check if MMU was started
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*/
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bool MMU2::rx_start() {
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// check for start message
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return rx_str(F("start\n"));
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}
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/**
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* Check if the data received ends with the given string.
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*/
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bool MMU2::rx_str(FSTR_P fstr) {
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PGM_P pstr = FTOP(fstr);
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uint8_t i = strlen(rx_buffer);
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while (MMU2_SERIAL.available()) {
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rx_buffer[i++] = MMU2_SERIAL.read();
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if (i == sizeof(rx_buffer) - 1) {
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DEBUG_ECHOLNPGM("rx buffer overrun");
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break;
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}
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}
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rx_buffer[i] = '\0';
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uint8_t len = strlen_P(pstr);
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if (i < len) return false;
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pstr += len;
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while (len--) {
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char c0 = pgm_read_byte(pstr--), c1 = rx_buffer[i--];
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if (c0 == c1) continue;
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if (c0 == '\r' && c1 == '\n') continue; // match cr as lf
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if (c0 == '\n' && c1 == '\r') continue; // match lf as cr
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return false;
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}
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return true;
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}
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/**
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* Transfer data to MMU, no argument
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*/
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void MMU2::tx_str(FSTR_P fstr) {
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clear_rx_buffer();
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PGM_P pstr = FTOP(fstr);
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while (const char c = pgm_read_byte(pstr)) { MMU2_SERIAL.write(c); pstr++; }
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prev_request = millis();
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}
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/**
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* Transfer data to MMU, single argument
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*/
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void MMU2::tx_printf(FSTR_P format, int argument = -1) {
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clear_rx_buffer();
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const uint8_t len = sprintf_P(tx_buffer, FTOP(format), argument);
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LOOP_L_N(i, len) MMU2_SERIAL.write(tx_buffer[i]);
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prev_request = millis();
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}
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/**
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* Transfer data to MMU, two arguments
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*/
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void MMU2::tx_printf(FSTR_P format, int argument1, int argument2) {
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clear_rx_buffer();
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const uint8_t len = sprintf_P(tx_buffer, FTOP(format), argument1, argument2);
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LOOP_L_N(i, len) MMU2_SERIAL.write(tx_buffer[i]);
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prev_request = millis();
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}
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/**
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* Empty the rx buffer
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*/
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void MMU2::clear_rx_buffer() {
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while (MMU2_SERIAL.available()) MMU2_SERIAL.read();
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rx_buffer[0] = '\0';
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}
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/**
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* Check if we received 'ok' from MMU
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*/
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bool MMU2::rx_ok() {
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if (rx_str(F("ok\n"))) {
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prev_P0_request = millis();
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return true;
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}
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return false;
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}
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/**
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* Check if MMU has compatible firmware
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*/
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void MMU2::check_version() {
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if (buildnr < MMU_REQUIRED_FW_BUILDNR) {
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SERIAL_ERROR_MSG("Invalid MMU2 firmware. Version >= " STRINGIFY(MMU_REQUIRED_FW_BUILDNR) " required.");
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kill(GET_TEXT_F(MSG_KILL_MMU2_FIRMWARE));
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}
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}
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static void mmu2_not_responding() {
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LCD_MESSAGE(MSG_MMU2_NOT_RESPONDING);
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BUZZ(100, 659);
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BUZZ(200, 698);
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BUZZ(100, 659);
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BUZZ(300, 440);
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BUZZ(100, 659);
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}
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#if HAS_PRUSA_MMU2S
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bool MMU2::load_to_gears() {
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command(MMU_CMD_C0);
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manage_response(true, true);
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LOOP_L_N(i, MMU2_C0_RETRY) { // Keep loading until filament reaches gears
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if (mmu2s_triggered) break;
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command(MMU_CMD_C0);
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manage_response(true, true);
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check_filament();
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}
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const bool success = mmu2s_triggered && can_load();
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if (!success) mmu2_not_responding();
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return success;
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}
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/**
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* Handle tool change
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*/
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void MMU2::tool_change(const uint8_t index) {
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if (!_enabled) return;
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set_runout_valid(false);
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if (index != extruder) {
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stepper.disable_extruder();
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ui.status_printf(0, GET_TEXT_F(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
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command(MMU_CMD_T0 + index);
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manage_response(true, true);
|
|
|
|
if (load_to_gears()) {
|
|
extruder = index; // filament change is finished
|
|
active_extruder = 0;
|
|
stepper.enable_extruder();
|
|
SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder);
|
|
}
|
|
ui.reset_status();
|
|
}
|
|
|
|
set_runout_valid(true);
|
|
}
|
|
|
|
/**
|
|
* Handle special T?/Tx/Tc commands
|
|
*
|
|
* T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
|
|
* Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
|
|
* Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
|
|
*/
|
|
void MMU2::tool_change(const char *special) {
|
|
if (!_enabled) return;
|
|
|
|
set_runout_valid(false);
|
|
|
|
switch (*special) {
|
|
case '?': {
|
|
#if ENABLED(MMU2_MENUS)
|
|
const uint8_t index = mmu2_choose_filament();
|
|
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
|
|
load_filament_to_nozzle(index);
|
|
#else
|
|
ERR_BUZZ();
|
|
#endif
|
|
} break;
|
|
|
|
case 'x': {
|
|
#if ENABLED(MMU2_MENUS)
|
|
planner.synchronize();
|
|
const uint8_t index = mmu2_choose_filament();
|
|
stepper.disable_extruder();
|
|
command(MMU_CMD_T0 + index);
|
|
manage_response(true, true);
|
|
|
|
if (load_to_gears()) {
|
|
mmu_loop();
|
|
stepper.enable_extruder();
|
|
extruder = index;
|
|
active_extruder = 0;
|
|
}
|
|
#else
|
|
ERR_BUZZ();
|
|
#endif
|
|
} break;
|
|
|
|
case 'c': {
|
|
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
|
|
load_to_nozzle();
|
|
} break;
|
|
}
|
|
|
|
set_runout_valid(true);
|
|
}
|
|
|
|
#elif ENABLED(MMU_EXTRUDER_SENSOR)
|
|
|
|
/**
|
|
* Handle tool change
|
|
*/
|
|
void MMU2::tool_change(const uint8_t index) {
|
|
if (!_enabled) return;
|
|
|
|
set_runout_valid(false);
|
|
|
|
if (index != extruder) {
|
|
stepper.disable_extruder();
|
|
if (FILAMENT_PRESENT()) {
|
|
DEBUG_ECHOLNPGM("Unloading\n");
|
|
mmu_loading_flag = false;
|
|
command(MMU_CMD_U0);
|
|
manage_response(true, true);
|
|
}
|
|
ui.status_printf(0, GET_TEXT_F(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
|
|
mmu_loading_flag = true;
|
|
command(MMU_CMD_T0 + index);
|
|
manage_response(true, true);
|
|
mmu_continue_loading();
|
|
//command(MMU_CMD_C0);
|
|
extruder = index;
|
|
active_extruder = 0;
|
|
|
|
stepper.enable_extruder();
|
|
SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder);
|
|
|
|
ui.reset_status();
|
|
}
|
|
|
|
set_runout_valid(true);
|
|
}
|
|
|
|
/**
|
|
* Handle special T?/Tx/Tc commands
|
|
*
|
|
* T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
|
|
* Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
|
|
* Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
|
|
*/
|
|
void MMU2::tool_change(const char *special) {
|
|
if (!_enabled) return;
|
|
|
|
set_runout_valid(false);
|
|
|
|
switch (*special) {
|
|
case '?': {
|
|
DEBUG_ECHOLNPGM("case ?\n");
|
|
#if ENABLED(MMU2_MENUS)
|
|
uint8_t index = mmu2_choose_filament();
|
|
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
|
|
load_filament_to_nozzle(index);
|
|
#else
|
|
ERR_BUZZ();
|
|
#endif
|
|
} break;
|
|
|
|
case 'x': {
|
|
DEBUG_ECHOLNPGM("case x\n");
|
|
#if ENABLED(MMU2_MENUS)
|
|
planner.synchronize();
|
|
uint8_t index = mmu2_choose_filament();
|
|
stepper.disable_extruder();
|
|
command(MMU_CMD_T0 + index);
|
|
manage_response(true, true);
|
|
mmu_continue_loading();
|
|
command(MMU_CMD_C0);
|
|
mmu_loop();
|
|
|
|
stepper.enable_extruder();
|
|
extruder = index;
|
|
active_extruder = 0;
|
|
#else
|
|
ERR_BUZZ();
|
|
#endif
|
|
} break;
|
|
|
|
case 'c': {
|
|
DEBUG_ECHOLNPGM("case c\n");
|
|
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
|
|
execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
|
|
} break;
|
|
}
|
|
|
|
set_runout_valid(true);
|
|
}
|
|
|
|
void MMU2::mmu_continue_loading() {
|
|
// Try to load the filament a limited number of times
|
|
bool fil_present = 0;
|
|
for (uint8_t i = 0; i < MMU_LOADING_ATTEMPTS_NR; i++) {
|
|
DEBUG_ECHOLNPGM("Load attempt #", i + 1);
|
|
|
|
// Done as soon as filament is present
|
|
fil_present = FILAMENT_PRESENT();
|
|
if (fil_present) break;
|
|
|
|
// Attempt to load the filament, 1mm at a time, for 3s
|
|
command(MMU_CMD_C0);
|
|
stepper.enable_extruder();
|
|
const millis_t expire_ms = millis() + 3000;
|
|
do {
|
|
current_position.e += 1;
|
|
line_to_current_position(MMU_LOAD_FEEDRATE);
|
|
planner.synchronize();
|
|
// When (T0 rx->ok) load is ready, but in fact it did not load
|
|
// successfully or an overload created pressure in the extruder.
|
|
// Send (C0) to load more and move E_AXIS a little to release pressure.
|
|
if ((fil_present = FILAMENT_PRESENT())) MMU2_COMMAND("A");
|
|
} while (!fil_present && PENDING(millis(), expire_ms));
|
|
stepper.disable_extruder();
|
|
manage_response(true, true);
|
|
}
|
|
|
|
// Was the filament still missing in the last check?
|
|
if (!fil_present) {
|
|
DEBUG_ECHOLNPGM("Filament never reached sensor, runout");
|
|
filament_runout();
|
|
}
|
|
mmu_idl_sens = 0;
|
|
}
|
|
|
|
#else // !HAS_PRUSA_MMU2S && !MMU_EXTRUDER_SENSOR
|
|
|
|
/**
|
|
* Handle tool change
|
|
*/
|
|
void MMU2::tool_change(const uint8_t index) {
|
|
if (!_enabled) return;
|
|
|
|
set_runout_valid(false);
|
|
|
|
if (index != extruder) {
|
|
stepper.disable_extruder();
|
|
ui.status_printf(0, GET_TEXT_F(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
|
|
command(MMU_CMD_T0 + index);
|
|
manage_response(true, true);
|
|
command(MMU_CMD_C0);
|
|
extruder = index; // Filament change is finished
|
|
active_extruder = 0;
|
|
stepper.enable_extruder();
|
|
SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder);
|
|
ui.reset_status();
|
|
}
|
|
|
|
set_runout_valid(true);
|
|
}
|
|
|
|
/**
|
|
* Handle special T?/Tx/Tc commands
|
|
*
|
|
* T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
|
|
* Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
|
|
* Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
|
|
*/
|
|
void MMU2::tool_change(const char *special) {
|
|
if (!_enabled) return;
|
|
|
|
set_runout_valid(false);
|
|
|
|
switch (*special) {
|
|
case '?': {
|
|
DEBUG_ECHOLNPGM("case ?\n");
|
|
#if ENABLED(MMU2_MENUS)
|
|
uint8_t index = mmu2_choose_filament();
|
|
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
|
|
load_filament_to_nozzle(index);
|
|
#else
|
|
ERR_BUZZ();
|
|
#endif
|
|
} break;
|
|
|
|
case 'x': {
|
|
DEBUG_ECHOLNPGM("case x\n");
|
|
#if ENABLED(MMU2_MENUS)
|
|
planner.synchronize();
|
|
uint8_t index = mmu2_choose_filament();
|
|
stepper.disable_extruder();
|
|
command(MMU_CMD_T0 + index);
|
|
manage_response(true, true);
|
|
command(MMU_CMD_C0);
|
|
mmu_loop();
|
|
|
|
stepper.enable_extruder();
|
|
extruder = index;
|
|
active_extruder = 0;
|
|
#else
|
|
ERR_BUZZ();
|
|
#endif
|
|
} break;
|
|
|
|
case 'c': {
|
|
DEBUG_ECHOLNPGM("case c\n");
|
|
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
|
|
execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
|
|
} break;
|
|
}
|
|
|
|
set_runout_valid(true);
|
|
}
|
|
|
|
#endif // HAS_PRUSA_MMU2S
|
|
|
|
/**
|
|
* Set next command
|
|
*/
|
|
void MMU2::command(const uint8_t mmu_cmd) {
|
|
if (!_enabled) return;
|
|
cmd = mmu_cmd;
|
|
ready = false;
|
|
}
|
|
|
|
/**
|
|
* Wait for response from MMU
|
|
*/
|
|
bool MMU2::get_response() {
|
|
while (cmd != MMU_CMD_NONE) idle();
|
|
|
|
while (!ready) {
|
|
idle();
|
|
if (state != 3) break;
|
|
}
|
|
|
|
const bool ret = ready;
|
|
ready = false;
|
|
|
|
return ret;
|
|
}
|
|
|
|
/**
|
|
* Wait for response and deal with timeout if necessary
|
|
*/
|
|
void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
|
|
|
|
constexpr xyz_pos_t park_point = NOZZLE_PARK_POINT;
|
|
bool response = false;
|
|
mmu_print_saved = false;
|
|
xyz_pos_t resume_position;
|
|
celsius_t resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
|
|
|
|
KEEPALIVE_STATE(PAUSED_FOR_USER);
|
|
|
|
while (!response) {
|
|
|
|
response = get_response(); // wait for "ok" from mmu
|
|
|
|
if (!response) { // No "ok" was received in reserved time frame, user will fix the issue on mmu unit
|
|
if (!mmu_print_saved) { // First occurrence. Save current position, park print head, disable nozzle heater.
|
|
|
|
planner.synchronize();
|
|
|
|
mmu_print_saved = true;
|
|
|
|
SERIAL_ECHOLNPGM("MMU not responding");
|
|
|
|
resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
|
|
resume_position = current_position;
|
|
|
|
if (move_axes && all_axes_homed())
|
|
nozzle.park(0, park_point /*= NOZZLE_PARK_POINT*/);
|
|
|
|
if (turn_off_nozzle) thermalManager.setTargetHotend(0, active_extruder);
|
|
|
|
mmu2_not_responding();
|
|
}
|
|
}
|
|
else if (mmu_print_saved) {
|
|
SERIAL_ECHOLNPGM("MMU starts responding\n");
|
|
|
|
if (turn_off_nozzle && resume_hotend_temp) {
|
|
thermalManager.setTargetHotend(resume_hotend_temp, active_extruder);
|
|
LCD_MESSAGE(MSG_HEATING);
|
|
ERR_BUZZ();
|
|
|
|
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(1000);
|
|
}
|
|
|
|
LCD_MESSAGE(MSG_MMU2_RESUMING);
|
|
mmu2_attn_buzz(true);
|
|
|
|
#pragma GCC diagnostic push
|
|
#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
|
|
|
|
if (move_axes && all_axes_homed()) {
|
|
// Move XY to starting position, then Z
|
|
do_blocking_move_to_xy(resume_position, feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
|
|
|
|
// Move Z_AXIS to saved position
|
|
do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
|
|
}
|
|
|
|
#pragma GCC diagnostic pop
|
|
}
|
|
}
|
|
}
|
|
|
|
void MMU2::set_filament_type(const uint8_t index, const uint8_t filamentType) {
|
|
if (!_enabled) return;
|
|
|
|
cmd_arg = filamentType;
|
|
command(MMU_CMD_F0 + index);
|
|
|
|
manage_response(true, true);
|
|
}
|
|
|
|
void MMU2::filament_runout() {
|
|
queue.inject(F(MMU2_FILAMENT_RUNOUT_SCRIPT));
|
|
planner.synchronize();
|
|
}
|
|
|
|
#if HAS_PRUSA_MMU2S
|
|
|
|
void MMU2::check_filament() {
|
|
const bool present = FILAMENT_PRESENT();
|
|
if (cmd == MMU_CMD_NONE && last_cmd == MMU_CMD_C0) {
|
|
if (present && !mmu2s_triggered) {
|
|
DEBUG_ECHOLNPGM("MMU <= 'A'");
|
|
tx_str(F("A\n"));
|
|
}
|
|
// Slowly spin the extruder during C0
|
|
else {
|
|
while (planner.movesplanned() < 3) {
|
|
current_position.e += 0.25;
|
|
line_to_current_position(MMM_TO_MMS(120));
|
|
}
|
|
}
|
|
}
|
|
mmu2s_triggered = present;
|
|
}
|
|
|
|
bool MMU2::can_load() {
|
|
execute_extruder_sequence((const E_Step *)can_load_sequence, COUNT(can_load_sequence));
|
|
|
|
int filament_detected_count = 0;
|
|
const int steps = (MMU2_CAN_LOAD_RETRACT) / (MMU2_CAN_LOAD_INCREMENT);
|
|
DEBUG_ECHOLNPGM("MMU can_load:");
|
|
LOOP_L_N(i, steps) {
|
|
execute_extruder_sequence((const E_Step *)can_load_increment_sequence, COUNT(can_load_increment_sequence));
|
|
check_filament(); // Don't trust the idle function
|
|
DEBUG_CHAR(mmu2s_triggered ? 'O' : 'o');
|
|
if (mmu2s_triggered) ++filament_detected_count;
|
|
}
|
|
|
|
if (filament_detected_count <= steps - (MMU2_CAN_LOAD_DEVIATION) / (MMU2_CAN_LOAD_INCREMENT)) {
|
|
DEBUG_ECHOLNPGM(" failed.");
|
|
return false;
|
|
}
|
|
|
|
DEBUG_ECHOLNPGM(" succeeded.");
|
|
return true;
|
|
}
|
|
|
|
#endif
|
|
|
|
// Load filament into MMU2
|
|
void MMU2::load_filament(const uint8_t index) {
|
|
if (!_enabled) return;
|
|
|
|
command(MMU_CMD_L0 + index);
|
|
manage_response(false, false);
|
|
mmu2_attn_buzz();
|
|
}
|
|
|
|
/**
|
|
* Switch material and load to nozzle
|
|
*/
|
|
bool MMU2::load_filament_to_nozzle(const uint8_t index) {
|
|
|
|
if (!_enabled) return false;
|
|
|
|
if (thermalManager.tooColdToExtrude(active_extruder)) {
|
|
mmu2_attn_buzz();
|
|
LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD);
|
|
return false;
|
|
}
|
|
|
|
stepper.disable_extruder();
|
|
command(MMU_CMD_T0 + index);
|
|
manage_response(true, true);
|
|
|
|
const bool success = load_to_gears();
|
|
if (success) {
|
|
mmu_loop();
|
|
extruder = index;
|
|
active_extruder = 0;
|
|
load_to_nozzle();
|
|
mmu2_attn_buzz();
|
|
}
|
|
return success;
|
|
}
|
|
|
|
/**
|
|
* Load filament to nozzle of multimaterial printer
|
|
*
|
|
* This function is used only after T? (user select filament) and M600 (change filament).
|
|
* It is not used after T0 .. T4 command (select filament), in such case, G-code is responsible for loading
|
|
* filament to nozzle.
|
|
*/
|
|
void MMU2::load_to_nozzle() {
|
|
execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
|
|
}
|
|
|
|
bool MMU2::eject_filament(const uint8_t index, const bool recover) {
|
|
|
|
if (!_enabled) return false;
|
|
|
|
if (thermalManager.tooColdToExtrude(active_extruder)) {
|
|
mmu2_attn_buzz();
|
|
LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD);
|
|
return false;
|
|
}
|
|
|
|
LCD_MESSAGE(MSG_MMU2_EJECTING_FILAMENT);
|
|
|
|
stepper.enable_extruder();
|
|
current_position.e -= MMU2_FILAMENTCHANGE_EJECT_FEED;
|
|
line_to_current_position(MMM_TO_MMS(2500));
|
|
planner.synchronize();
|
|
command(MMU_CMD_E0 + index);
|
|
manage_response(false, false);
|
|
|
|
if (recover) {
|
|
LCD_MESSAGE(MSG_MMU2_EJECT_RECOVER);
|
|
mmu2_attn_buzz();
|
|
TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, F("MMU2 Eject Recover"), FPSTR(CONTINUE_STR)));
|
|
TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(F("MMU2 Eject Recover")));
|
|
TERN_(HAS_RESUME_CONTINUE, wait_for_user_response());
|
|
mmu2_attn_buzz(true);
|
|
|
|
command(MMU_CMD_R0);
|
|
manage_response(false, false);
|
|
}
|
|
|
|
ui.reset_status();
|
|
|
|
// no active tool
|
|
extruder = MMU2_NO_TOOL;
|
|
|
|
set_runout_valid(false);
|
|
|
|
mmu2_attn_buzz();
|
|
|
|
stepper.disable_extruder();
|
|
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* Unload from hotend and retract to MMU
|
|
*/
|
|
bool MMU2::unload() {
|
|
|
|
if (!_enabled) return false;
|
|
|
|
if (thermalManager.tooColdToExtrude(active_extruder)) {
|
|
mmu2_attn_buzz();
|
|
LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD);
|
|
return false;
|
|
}
|
|
|
|
// Unload sequence to optimize shape of the tip of the unloaded filament
|
|
execute_extruder_sequence((const E_Step *)ramming_sequence, sizeof(ramming_sequence) / sizeof(E_Step));
|
|
|
|
command(MMU_CMD_U0);
|
|
manage_response(false, true);
|
|
|
|
mmu2_attn_buzz();
|
|
|
|
// no active tool
|
|
extruder = MMU2_NO_TOOL;
|
|
|
|
set_runout_valid(false);
|
|
|
|
return true;
|
|
}
|
|
|
|
void MMU2::execute_extruder_sequence(const E_Step * sequence, int steps) {
|
|
|
|
planner.synchronize();
|
|
stepper.enable_extruder();
|
|
|
|
const E_Step* step = sequence;
|
|
|
|
LOOP_L_N(i, steps) {
|
|
const float es = pgm_read_float(&(step->extrude));
|
|
const feedRate_t fr_mm_m = pgm_read_float(&(step->feedRate));
|
|
|
|
DEBUG_ECHO_MSG("E step ", es, "/", fr_mm_m);
|
|
|
|
current_position.e += es;
|
|
line_to_current_position(MMM_TO_MMS(fr_mm_m));
|
|
planner.synchronize();
|
|
|
|
step++;
|
|
}
|
|
|
|
stepper.disable_extruder();
|
|
}
|
|
|
|
#endif // HAS_PRUSA_MMU2
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|
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